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The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including those from the School of Psychological Sciences & Health - but also papers by researchers based within the Faculties of Science, Engineering, Humanities & Social Sciences, and from the Strathclyde Business School.

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Robot assembly : an architecture to promote autonomy

Petropoulakis, Lykourgos (1994) Robot assembly : an architecture to promote autonomy. In: Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation, 1994. IEEE, pp. 952-957. ISBN 0780313283

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Abstract

Controlling and programming assembly robots to perform arbitrary tasks of manipulation even in well-structured environments has proved to be a difficult problem. Architectural designs of control systems associated with the robot and its environment can be important factors in providing the basic robustness needed for autonomous system behaviour. This paper presents the basic features of a modular parallel processing architecture for robotic assembly, which aims to impart more efficiency, robustness, and-in case of failure-graceful degradation in robot actions